# Contributing to MuJoCo We intend for MuJoCo to be a true community-driven project and look forward to accepting your contributions! ## Before you contribute ### Documentation, forums Please read MuJoCo's [documentation](https://mujoco.readthedocs.io/) and look through current topics on our GitHub [issues](https://github.com/google-deepmind/mujoco/issues) and [discussions](https://github.com/google-deepmind/mujoco/discussions) pages. ### Contributor License Agreement Contributions to this project must be accompanied by a Contributor License Agreement (CLA). You (or your employer) retain the copyright to your contribution; this simply gives us permission to use and redistribute your contributions as part of the project. Head over to to see your current agreements on file or to sign a new one. You generally only need to submit a CLA once, so if you've already submitted one (even if it was for a different project), you probably don't need to do it again. ## Contributing ### Reporting bugs How to submit a good bug report: - Use a clear and descriptive title. - Make it easy to reproduce the problem. If this requires a model, attach it as a zip file to the bug report. The model and steps required to reproduce the problem should be *minimal*, in the sense that irrelevant parts are removed. - Clearly state what is the expected behavior. - Include an illustrative screenshot, if relevant. Try to provide context: - If the problem is new, see if you can reproduce it in an older version. What's the most recent version in which the problem doesn't happen? - Can you reproduce the problem on multiple platforms? ### Suggesting enhancements Before submitting an enhancement suggestion: - Check if you're using the [latest version](https://github.com/google-deepmind/mujoco/releases/latest) of MuJoCo. - Perform a quick [search](https://github.com/google-deepmind/mujoco/issues) to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. How to submit a good enhancement suggestion: - Use a clear and descriptive title. - Describe the current behaviour and the behavior which you hope to see instead. - Explain why this enhancement would be useful. - Specify the version of MuJoCo and platform/OS you are using. ### Contributing code - Except for small and straightforward bugfixes, please get in touch with us before you start working on a contribution so that we can help and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on. - All submissions require review. Please use GitHub pull requests for this purpose. Please consult [GitHub Help](https://help.github.com/articles/about-pull-requests/) for more information on pull requests. - Write tests. MuJoCo uses [googletest](https://github.com/google/googletest) for C++ tests, [absltest](https://abseil.io/docs/python/guides/testing) for Python binding code and [nunit](https://nunit.org/) for C# code in the Unity plugin. In most cases, a pull request will only be accepted if it includes tests. MuJoCo's internal codebase is currently lacking in test coverage. If you want to modify a function that isn't covered by tests, you'll be expected to contribute tests for the existing functionality, not just your modification. In fact, writing a test for existing code is a great way to get started with contributions. - Resolve compiler warnings. - All existing tests must pass. - Follow the [Style Guide](./STYLEGUIDE.md). In particular, adequately comment your code. - Make small pull requests. We will likely ask you to split up a large pull request into self-contained, smaller ones, especially if the PR is trying to achieve multiple things. - Respond to reviewers. Please be responsive to any questions and comments. Once you have met all the requirements, your code will be merged. Thanks for improving MuJoCo! ### Community guidelines This project follows Google's [Open Source Community Guidelines](https://opensource.google/conduct/).